Hyundai HI4 - Manual (Page 257)

6. System setting
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„ Straight line conveyor vertical angle : It inputs the angle the advancing direction
of conveyor rotates in the plus direction of robot coordinate system' Y axis center
on the basis of X axis of robot coordinate system.
„ Pattern conveyor X axis rotative angle : The pattern conveyor isn't supported at
present.
„ Pattern conveyor Y axis rotative angle : The pattern conveyor isn't supported at
present.
„ Pattern conveyor center X value : The pattern conveyor isn't supported at present.
„ Pattern conveyor center Y value : The pattern conveyor isn't supported at present.
„ Pattern conveyor center Z value : The pattern conveyor isn't supported at present.
„ Sampling interval : It is fixed to the 0.1 second at present.
„ Pulse error detection permissible count : Even if the pulse error is made, it makes
the robot worked continuously to protect the work object in process of the
synchronous work. For example, if the pulse error detection permissible count is
set to 3, even if the pulse error in process of the synchronous work in the one work
object is detected more than three time, the robot doesn't make an error but makes
the synchronous work continued normally by making the proper pulse value
artificially.
„ Robot in case of the conveyor stop : When the signal isn't inputted in process of
operating the conveyor, that is to say, when the conveyor stops, it decides the
movement of robot.
① Execution : In case that the signal isn't inputted in process of operating the
conveyor, it stops after executing by the end of cycle in process of
replaying. and then it waits for the starting signal.
② Stop : In case that the signal is inputted in process of operating the conveyor,
it makes the robot stopped.
„ Conveyor permissible frequency : It sets the upper limit value of normal pulse number
outputted from the conveyor pulse producer per one second. It is possible to input
from 1kHz to 15kHz at present.
„ Conveyor permissible speed : It treats as the error in case that the conveyor speed
is higher than the set permissible speed.